Conceptual Design of a Soft Robot for Camera Guidance in Endoscopic Surgical Interventions

• Autores: Chávez Urbina, Alvaro Adolfo, Parco Llorona, Diego Sthywen, Torres Hinostroza, Alberto Jesús, Frank William, Zarate Peña
• Formato: tesis de grado
• Fecha de Publicación: 2024
• Institución: Universidad Continental
• Repositorio: CONTINENTAL-Institucional
• Lenguaje: inglés
• OAI Identifier: oai:repositorio.continental.edu.pe:20.500.12394/15039
• Enlace del recurso: https://hdl.handle.net/20.500.12394/15039; https://doi.org/10.1145/3632971.3633044
• Nivel de acceso: acceso abierto
• Materia: Electricidad; Hardware; https://purl.org/pe-repo/ocde/ford#2.03.00

This paper seeks to implement a soft robotic solution for guiding endoscopic cameras. These soft robots are constructed using pliable materials, granting them the ability to conform to irregular contours and dynamic environments. This intrinsic flexibility renders them particularly adept at navigating through constrained spaces within the human body during minimally invasive procedures. Presently, the manipulation of endoscopes can lead to inadvertent injuries due to the challenges posed by their maneuverability. In response, a novel approach has been proposed: employing a soft robot to guide the endoscopic camera during surgical interventions. To achieve this, the design methodologies of VDI 2225 and VDI 2206 were incorporated, ensuring a systematic and robust development process. Central to this implementation isthe integration of a movement control system, synergistically functioning alongside a controller equipped with dual joysticks.This configuration empowers surgeons to operate the robot, dictating its directions and movements with enhanced precision. By introducing this soft robot into the endoscopic procedure, the aim is to mitigate the risk of injuries that can arise from conventional endoscope manipulation, and simultaneously enhance the maneuverability for surgeons. Through the harmonious amalgamation of flexible materials, meticulous design methodologies, and intuitive control systems, this approach has the potential to minimize injuries, optimize manipulation, and elevate the overall efficacy of endoscopic interventions.